version: 66.13
glider: 401
mission: 22
dive: 683
start: 8 8 117 6 59 41
data:
$ID,401
$MISSION,22
$DIVE,683
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,18
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,080817,063649,6034.9971,-17336.9551,8,0.8,24,7.1,0.4,50.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-4.3
$GPS2,080817,063649,6034.9971,-17336.9551,8,0.8,24,7.1,0.4,50.9,11,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.184201,0.483594
$KALMAN_X,62031.238281,-1104.244141,-83.338455,-242111.593750,165.602844
$KALMAN_Y,-24103.773438,243.702637,61.990623,171383.578125,-206.658020
$MHEAD_RNG_PITCHd_Wd,332.0,17390,-8.3,-11.111,-12.12,12113
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.41,-438.8,2394,1950,2359,4092,0.0,0.0,0,18,5.00,0.00,-2.60,0.000,20482,0.024,0.000,1905,1951,2651,2651,4094,0,0,0,0,0,0,26.16,28.83,26.21,10.39,51.73
$GC,21,-1.41,-438.8,1904,1950,2650,4094,0.0,0.0,1,29,0.00,1.12,-3.10,0.000,16644,0.000,1.265,1905,2354,3001,3001,4095,0,0,0,0,0,0,26.37,24.95,26.38,10.46,51.96
$GC,189,-1.41,-438.8,1904,2355,3003,4095,14.0,-9.0,28,195,0.00,1.02,0.00,0.000,1030,0.000,0.029,1904,1942,3004,3004,4095,0,0,0,0,0,0,26.24,26.20,26.27,10.54,51.33
$GC,228,-1.41,-438.8,1904,1942,3004,4095,17.3,-8.1,34,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3004,3004,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.53,51.33
$GC,266,-1.41,-438.8,1904,1942,3005,4094,19.7,-5.4,40,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3004,3004,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.52,50.94
$GC,304,-1.41,-438.8,1904,1942,3005,4095,22.3,-7.1,46,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3005,3005,4095,0,0,0,0,0,0,26.52,26.54,26.53,10.50,50.47
$GC,342,-1.41,-438.8,1904,1942,3005,4095,25.2,-7.9,52,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3006,3006,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.49,50.31
$GC,380,-1.41,-438.8,1904,1942,3006,4094,28.4,-8.4,58,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3006,3006,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.47,49.48
$GC,418,-1.41,-438.8,1904,1942,3007,4095,31.5,-8.5,64,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3007,3007,4095,0,0,0,0,0,0,26.58,26.58,26.59,10.44,49.48
$GC,456,-1.41,-438.8,1904,1942,3007,4095,34.8,-8.6,70,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3007,3007,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.44,48.46
$GC,494,-1.41,-438.8,1904,1942,3007,4095,38.1,-8.7,76,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3008,3008,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.43,47.99
$GC,532,-1.41,-438.8,1904,1942,3009,4094,41.4,-8.5,82,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,1942,3009,3009,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.42,47.48
$GC,570,-1.41,-438.8,1904,1942,3009,4095,44.8,-8.6,88,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3009,3009,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.42,47.16
$GC,609,-1.41,-438.8,1904,1942,3010,4095,47.8,-7.8,94,615,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3010,3010,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.42,46.88
$GC,647,-1.41,-438.8,1904,1942,3010,4094,50.7,-7.6,100,653,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,1942,3010,3010,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.41,47.59
$GC,685,-1.41,-438.8,1904,1942,3011,4094,53.9,-8.2,106,691,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1942,3011,3011,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.41,46.85
$GC,723,-1.41,-438.8,1904,1942,3012,4095,57.3,-8.8,112,730,0.00,1.05,0.00,0.000,516,0.000,0.052,1905,1523,3012,3012,4095,0,0,0,0,0,0,26.67,26.38,26.69,10.39,47.16
$STATE,753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,753,begin apogee
$GC,760,-0.45,0.0,1904,1946,3012,4095,60.2,-9.1,117,796,2.97,0.00,25.38,1.250,10244,0.051,0.000,2186,1946,2483,2483,4095,0,0,0,0,0,0,26.40,25.36,24.64,10.39,47.71
$STATE,797,end apogee,CONTROL_FINISHED_OK
$STATE,797,begin climb
$GC,799,1.41,438.8,2185,1946,2483,4095,61.7,0.0,123,837,6.18,1.05,25.05,1.227,10500,0.034,0.037,2775,2358,1971,1971,4094,0,0,0,0,0,0,25.80,25.76,24.19,10.29,47.28
$GC,869,1.73,653.9,2775,2357,1970,4094,57.6,9.3,134,889,0.95,1.05,13.10,1.086,11270,0.024,0.030,2882,1952,1721,1721,4094,0,0,0,0,0,0,25.53,25.49,24.22,10.17,45.82
$GC,921,1.73,653.9,2881,1952,1721,4094,51.8,11.7,142,927,0.00,1.12,0.00,0.000,516,0.000,0.055,2881,1527,1721,1721,4094,0,0,0,0,0,0,25.71,25.43,25.72,10.11,46.61
$GC,995,1.73,653.9,2881,1526,1719,4094,43.2,11.7,154,1002,0.00,0.95,0.00,0.000,1030,0.000,0.025,2882,1945,1719,1719,4094,0,0,0,0,0,0,25.77,25.76,25.79,10.11,46.73
$GC,1034,1.73,653.9,2881,1944,1718,4094,38.9,11.6,160,1040,0.00,1.08,0.00,0.000,260,0.000,0.041,2882,2353,1718,1718,4094,0,0,0,0,0,0,26.03,25.76,26.05,10.10,46.88
$GC,1084,1.73,653.9,2881,2352,1717,4094,33.2,11.4,168,1091,0.00,1.02,0.00,0.000,1030,0.000,0.031,2882,1951,1717,1717,4095,0,0,0,0,0,0,25.91,25.88,25.93,10.10,47.04
$GC,1123,1.73,653.9,2881,1951,1716,4095,28.9,11.4,174,1129,0.00,1.12,0.00,0.000,516,0.000,0.055,2882,1520,1716,1716,4094,0,0,0,0,0,0,26.17,25.87,26.19,10.10,47.48
$GC,1163,1.83,715.6,2881,1519,1714,4094,24.7,10.6,180,1177,0.20,1.00,4.78,0.565,11270,0.047,0.026,2904,1958,1649,1649,4094,0,0,0,0,0,0,25.98,26.02,25.04,10.10,47.75
$GC,1209,1.92,776.3,2903,1957,1648,4094,19.7,10.6,187,1223,0.20,1.02,4.90,0.542,10500,0.053,0.042,2931,2353,1577,1577,4094,0,0,0,0,0,0,26.01,25.82,25.08,10.10,47.71
$STATE,1379,end climb,FINISH_DEPTH_REACHED
$STATE,1379,begin subsurface finish
$FINISH1,1.9,1.023991,112
$GC,1387,0.17,112.1,2931,1948,1573,4094,1.9,11.1,215,1406,5.72,1.08,-6.60,0.000,20740,0.049,1.263,2398,2370,2356,2356,4094,0,0,0,0,0,0,26.10,24.91,26.16,10.16,52.12
$FINISH2,0.1
$STATE,1407,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1407,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,051455
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.50
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.19,18.502
$10V_AH,10.48,22.358
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.225,16.775,73.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,562.636,349.618,178.116,316.827,61.686,33.429,403.671,0.000,323.383,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1264.545,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,146.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,17825,218
$CAP_FILE_SIZE,38392,0
$CFSIZE,1024409600,985907200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,063649,6034.997,-17336.955,8,0.8,24,7.1,0.4,50.9,11,4.9